src/jp/nyatla/nyartoolkit/core/types/matrix/NyARDoubleMatrix33.java

   1 /* \r
   2  * PROJECT: NyARToolkit(Extension)\r
   3  * --------------------------------------------------------------------------------\r
   4  * The NyARToolkit is Java version ARToolkit class library.\r
   5  * Copyright (C)2008 R.Iizuka\r
   6  *\r
   7  * This program is free software; you can redistribute it and/or\r
   8  * modify it under the terms of the GNU General Public License\r
   9  * as published by the Free Software Foundation; either version 2\r
  10  * of the License, or (at your option) any later version.\r
  11  * \r
  12  * This program is distributed in the hope that it will be useful,\r
  13  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  15  * GNU General Public License for more details.\r
  16  * \r
  17  * You should have received a copy of the GNU General Public License\r
  18  * along with this framework; if not, write to the Free Software\r
  19  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  20  * \r
  21  * For further information please contact.\r
  22  *      http://nyatla.jp/nyatoolkit/\r
  23  *      <airmail(at)ebony.plala.or.jp>\r
  24  * \r
  25  */\r
  26 package jp.nyatla.nyartoolkit.core.types.matrix;\r
  27 \r
  28 import jp.nyatla.nyartoolkit.*;\r
  29 \r
  30 public class NyARDoubleMatrix33 implements INyARDoubleMatrix\r
  31 {\r
  32         public double m00;\r
  33         public double m01;\r
  34         public double m02;\r
  35         public double m10;\r
  36         public double m11;\r
  37         public double m12;\r
  38         public double m20;\r
  39         public double m21;\r
  40         public double m22;\r
  41         public static NyARDoubleMatrix33[] createArray(int i_number)\r
  42         {\r
  43                 NyARDoubleMatrix33[] ret=new NyARDoubleMatrix33[i_number];\r
  44                 for(int i=0;i<i_number;i++)\r
  45                 {\r
  46                         ret[i]=new NyARDoubleMatrix33();\r
  47                 }\r
  48                 return ret;\r
  49         }\r
  50         /**\r
  51          * 遅いからあんまり使わないでね。\r
  52          */\r
  53         public void setValue(double[] i_value)\r
  54         {\r
  55                 this.m00=i_value[0];\r
  56                 this.m01=i_value[1];\r
  57                 this.m02=i_value[2];\r
  58                 this.m10=i_value[3];\r
  59                 this.m11=i_value[4];\r
  60                 this.m12=i_value[5];\r
  61                 this.m20=i_value[6];\r
  62                 this.m21=i_value[7];\r
  63                 this.m22=i_value[8];\r
  64                 return;\r
  65         }\r
  66         /**\r
  67          * 遅いからあんまり使わないでね。\r
  68          */\r
  69         public void getValue(double[] o_value)\r
  70         {\r
  71                 o_value[0]=this.m00;\r
  72                 o_value[1]=this.m01;\r
  73                 o_value[2]=this.m02;\r
  74                 o_value[3]=this.m10;\r
  75                 o_value[4]=this.m11;\r
  76                 o_value[5]=this.m12;\r
  77                 o_value[6]=this.m20;\r
  78                 o_value[7]=this.m21;\r
  79                 o_value[8]=this.m22;\r
  80                 return;\r
  81         }\r
  82         public boolean inverse(NyARDoubleMatrix33 i_src)\r
  83         {\r
  84                 final double a11,a12,a13,a21,a22,a23,a31,a32,a33;\r
  85                 final double b11,b12,b13,b21,b22,b23,b31,b32,b33;       \r
  86                 a11=i_src.m00;a12=i_src.m01;a13=i_src.m02;\r
  87                 a21=i_src.m10;a22=i_src.m11;a23=i_src.m12;\r
  88                 a31=i_src.m20;a32=i_src.m21;a33=i_src.m22;\r
  89                 \r
  90                 b11=a22*a33-a23*a32;\r
  91                 b12=a32*a13-a33*a12;\r
  92                 b13=a12*a23-a13*a22;\r
  93                 \r
  94                 b21=a13*a31-a21*a33;\r
  95                 b22=a33*a11-a31*a13;\r
  96                 b23=a13*a21-a11*a23;\r
  97                 \r
  98                 b31=a21*a32-a22*a31;\r
  99                 b32=a31*a12-a32*a11;\r
 100                 b33=a11*a22-a12*a21;\r
 101                                 \r
 102                 double det_1=a11*b11+a21*b12+a31*b13;\r
 103                 if(det_1==0){\r
 104                         return false;\r
 105                 }\r
 106                 det_1=1/det_1;\r
 107 \r
 108                 this.m00=b11*det_1;\r
 109                 this.m01=b12*det_1;\r
 110                 this.m02=b13*det_1;\r
 111                 \r
 112                 this.m10=b21*det_1;\r
 113                 this.m11=b22*det_1;\r
 114                 this.m12=b23*det_1;\r
 115                 \r
 116                 this.m20=b31*det_1;\r
 117                 this.m21=b32*det_1;\r
 118                 this.m22=b33*det_1;\r
 119                 \r
 120                 return true;\r
 121         }               \r
 122         \r
 123 }\r